PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
    • Flight Modes
    • Vehicle Status Notifications
      • LED Meanings
      • Tune/Sound Meanings
      • Preflight Checks
    • Payloads & Cameras
    • Flight Reporting
  • Basic Assembly
    • Mounting the Flight Controller
    • Mounting the GPS/Compass
    • Vibration Isolation
    • Cable Wiring
    • CUAV Pixhawk V6X Wiring QuickStart
    • CUAV V5+ Wiring Quickstart
    • CUAV V5 nano Wiring Quickstart
    • Holybro Pixhawk 6C Wiring Quickstart
    • Holybro Pixhawk 6X Wiring Quickstart
    • Holybro Pixhawk 5X Wiring Quickstart
    • Holybro Pixhawk 4 Wiring Quickstart - Discontinued
    • Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued
    • Holybro Durandal Wiring Quickstart
    • Holybro Pix32 v5 Wiring Quickstart
    • Cube Wiring Quickstart
    • Pixracer Wiring Quickstart
    • mRo (3DR) Pixhawk Wiring Quickstart
  • Standard Configuration
    • Firmware
    • Airframe
    • Sensor Orientation
    • Compass
    • Gyroscope
    • Accelerometer
    • Airspeed
    • Level Horizon Calibration
    • Radio Setup
    • Joystick Setup
    • Flight Modes
    • Battery
    • Safety
      • Failsafe Simulation
    • ESC Calibration
    • Actuators
    • Autotune
  • Vehicle Types & Setup
    • Multicopters
      • Multicopter Config/Tuning
        • MC Filter/Control Latency Tuning
        • MC PID Tuning (Manual/Basic)
        • MC PID Tuning Guide (Manual/Advanced)
        • MC Setpoint Tuning (Trajectory Generator)
          • MC Jerk-limited Type Trajectory
        • Multicopter Racer Setup
      • X500 v2 (Pixhawk 6C)
      • X500 v2 (Pixhawk 5X)
      • X500 (Pixhawk 4)
      • S500 V2 (Pixhawk 4)
      • DJI F450 (CUAV v5+)
      • DJI F450 (CUAV v5 nano)
      • QAV250 (Pixhawk4 Mini) - Discontinued
      • DJI F450 + RTK (Pixhawk 3 Pro)
      • QAV250 (Pixhawk Mini)
      • QAV-R 5" Racer (Pixracer)
      • Omnicopter
    • Planes
      • Fixed Wing Config/Tuning
        • Fixedwing PID Tuning Guide
        • Fixedwing Advanced Tuning Guide
        • Fixedwing Trimming Guide
      • Reptile Dragon 2 (ARK6X)
      • Turbo Timber Evolution (Pixhawk 4 Mini)
      • Wing Wing Z84 (Pixracer)
    • VTOL
      • VTOL Config/Tuning
        • QuadPlane Configuration
        • Back-transition Tuning
        • VTOL w/o Airspeed Sensor
        • VTOL Weather Vane
      • Standard VTOL
        • FunCub QuadPlane (Pixhawk)
        • Ranger QuadPlane (Pixhawk)
        • Falcon Vertigo QuadPlane (Dropix)
      • Tailsitter VTOL
        • Build: TBS Caipiroshka Tailsitter Build (Pixracer)
      • Tiltrotor VTOL
        • Build: Convergence Tiltrotor (Pixfalcon)
    • Airships (experimental)
    • Autogyros (experimental)
      • ThunderFly Auto-G2 (Holybro pix32)
    • Balloons (experimental)
    • Helicopter (experimental)
      • Helicopter Config/Tuning
    • Rovers (experimental)
      • Traxxas Stampede
    • Submarines (experimental)
      • BlueROV2
    • Airframes Reference
  • Flying
    • First Flight Guidelines
    • Flying 101
    • Missions
      • Package Delivery Mission
    • GeoFence
    • Safety Point Planning
    • Flight Modes
      • Position Mode (MC)
      • Altitude Mode (MC)
      • Manual/Stabilized Mode (MC)
      • Acro Mode (MC)
      • Orbit Mode (MC)
      • Position Mode (FW)
      • Altitude Mode (FW)
      • Stabilized Mode (FW)
      • Acro Mode (FW)
      • Manual Mode (FW)
      • Takeoff Mode
      • Land Mode
      • Return Mode
      • Hold Mode
      • Mission Mode
      • Follow Me Mode
      • Offboard Mode
    • Terrain Following/Holding
  • Flight Log Analysis
    • Log Analysis using Flight Review
    • Log Analysis using PlotJuggler
  • Advanced Configuration
    • Finding/Updating Parameters
    • Full Parameter Reference
    • ECL/EKF Overview & Tuning
    • Flight Termination Configuration
    • Bootloader Flashing onto Betaflight Systems
    • Land Detector Configuration
    • Prearm/Arm/Disarm Configuration
    • IMU Factory Calibration
    • Sensor Thermal Compensation
    • Compass Power Compensation
    • Advanced Controller Orientation
    • Static Pressure Buildup
    • Serial Port Configuration
    • MAVLink Telemetry (OSD/GCS)
    • PX4 Ethernet Setup
    • Bootloader Update
  • Hardware (Drones&Parts)
    • Complete Vehicles
      • ModalAI Starling
      • PX4 Vision Kit
      • MindRacer BNF & RTF
        • MindRacer 210
        • NanoMind 110
      • Holybro Kopis 2
      • Bitcraze Crazyflie 2.1
    • Flight Controllers (Autopilots)
      • Pixhawk Series
        • Silicon Errata
      • Pixhawk Standard Autopilots
        • CUAV Pixhawk V6X (FMUv6X)
        • Holybro Pixhawk 6X (FMUv6X)
        • Holybro Pixhawk 6C (FMUv6C)
        • Holybro Pixhawk 6C Mini(FMUv6C)
        • Holybro Pix32 v6 (FMUv6C)
        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
        • mRo Pixracer (FMUv4)
        • Hex Cube Black (FMUv3)
        • mRo Pixhawk (FMUv3)
        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
        • AirMind MindPX
        • AirMind MindRacer
        • ARK Electronics ARKV6X
        • CUAV X7
        • CUAV Nora
        • CUAV V5+ (FMUv5)
        • CUAV V5 nano (FMUv5)
        • CUAV Pixhack v3 (FMUv3)
        • CubePilot Cube Orange+ (CubePilot)
        • CubePilot Cube Orange (CubePilot)
        • CubePilot Cube Yellow (CubePilot)
        • Holybro Kakute H7v2
        • Holybro Kakute H7mini
        • Holybro Kakute H7
        • Holybro Durandal
        • Holybro Pix32 v5
        • ModalAI Flight Core v1
        • ModalAI VOXL Flight
        • ModalAI VOXL 2
        • mRobotics-X2.1 (FMUv2)
        • mRo Control Zero F7)
        • NXP RDDRONE-FMUK66 FMU
        • Sky-Drones AIRLink
        • SPRacing SPRacingH7EXTREME
        • ThePeach FCC-K1
        • ThePeach FCC-R1
      • Experimental Autopilots
        • BeagleBone Blue
        • Raspberry Pi 2/3 Navio2
        • Raspberry Pi 2/3/4 PilotPi
          • PilotPi with Raspberry Pi OS
          • PilotPi with Ubuntu Server
      • Discontinued Autopilots/Vehicles
        • Drotek Dropix (FMUv2)
        • Omnibus F4 SD
        • BetaFPV Beta75X 2S Brushless Whoop
        • Bitcraze Crazyflie 2.0
        • Aerotenna OcPoC-Zynq Mini
        • CUAV v5
        • Holybro Kakute F7 (Discontinued)
        • Holybro Pixfalcon
        • Holybro pix32 (FMUv2)
        • mRo AUAV-X2
        • 3DR Pixhawk 1
        • Snapdragon Flight
        • Intel® Aero RTF Drone (Discontinued)
      • Pixhawk Autopilot Bus (PAB) & Carriers
        • ARK Electronics Pixhawk Autopilot Bus Carrier
    • Flight Controller Peripherals
      • ADSB/FLARM (Traffic Avoidance)
      • Air Traffic Avoidance: ADSB/FLARM
      • Air Traffic Avoidance: UTM
      • Airspeed Sensors
        • TFSlot Airspeed Sensor
      • Barometers
      • Camera
      • Distance Sensors (Rangefinders)
        • Lightware SFxx Lidar
        • Ainstein US-D1 Standard Radar Altimeter
        • LeddarOne Lidar
        • Benewake TFmini Lidar
        • Lidar-Lite
        • TeraRanger
        • Lanbao PSK-CM8JL65-CC5
        • Avionics Anonymous Laser Altimeter UAVCAN Interface
      • ESCs & Motors
        • PWM ESCs and Servos
        • DShot ESCs
        • OneShot ESCs and Servos
        • DroneCAN ESCs
          • Zubax Telega
          • PX4 Sapog ESC Firmware
            • Holybro Kotleta
            • Zubax Orel
        • VESC
      • TBS Crossfire (CRSF) Telemetry
      • FrSky Telemetry
      • Gimbal (Mount) Configuration
      • GPS/Compass
        • ARK GPS
        • Holybro DroneCAN M8N GPS
        • LOCOSYS Hawk A1 GNSS
        • Hex Here2
        • Holybro M8N & M9N GPS
        • Sky-Drones SmartAP GPS
      • Grippers
        • Servo Gripper
      • Optical Flow
        • ARK Flow
        • PMW3901
        • PX4FLOW (Deprecated)
      • Precision Landing
      • Parachute
      • Power Modules/PDB
        • CUAV HV pm
        • CUAV CAN PMU
        • Holybro PM02
        • Holybro PM07
        • Holybro PM06 V2
        • Holybro PM02D (digital)
        • Holybro PM03D (digital)
        • Pomegranate Systems Power Module
        • Sky-Drones SmartAP PDB
      • Satellite Coms (Iridium/RockBlock)
      • Telemetry Radios
        • SiK Radio
          • RFD900 (SiK) Telemetry Radio
          • HolyBro (SIK) Telemetry Radio
        • Telemetry Wifi
          • ESP8266 WiFi Module
          • ESP32 WiFi Module
          • 3DR Telemetry Wifi (Discontinued)
        • Microhard Serial Telemetry Radio
          • ARK Electron Microhard Serial Telemetry Radio
          • Holybro Microhard P900 Telemetry Radio
        • CUAV P8 Telemetry Radio
        • HolyBro XBP9X - Discontinued
      • RTK GPS
        • ARK RTK GPS
        • RTK GPS Heading with Dual u-blox F9P
        • CUAV C-RTK
        • CUAV C-RTK2 PPK/RTK GNSS
        • CUAV C-RTK 9Ps
        • Femtones MINI2 Receiver
        • Freefly RTK GPS
        • Holybro H-RTK-F9P
        • Holybro H-RTK-M8P
        • Holybro H-RTK Unicore UM982 GPS
        • Locosys Hawk R1
        • Locosys Hawk R2
        • Septentrio AsteRx-RIB
        • Septentrio mosaic-go
        • Trimble MB-Two
        • CubePilot Here+ (Discontined)
      • Remote ID
      • Smart Batteries
        • Rotoye Batmon Battery Smartification Kit
      • Tachometers (Revolution Counters)
        • ThunderFly TFRPM01 Tachometer Sensor
      • I2C Peripherals
        • I2C bus accelerators
        • TFI2CADT01 I2C address translator
      • CAN Peripherals
      • DroneCAN Peripherals
        • PX4 DroneCAN Firmware
        • ARK CANnode
    • Companion Computers
      • Pixhawk + Companion Setup
        • RasPi Pixhawk Companion
      • Companion Computer Peripherals
      • Holybro Pixhawk RPI CM4 Baseboard
      • Auterion Skynode
      • Computer Vision
        • Obstacle Avoidance
        • Safe Landing
        • Collision Prevention
        • Path Planning Interface
        • Motion Capture (MoCap)
        • Visual Inertial Odometry (VIO)
          • Realsense T265 Tracking Camera (VIO)
      • Video Streaming
  • Development
    • Getting Started
      • Recommended Hardware/Setup
      • Toolchain Installation
        • MacOS Setup
        • Ubuntu Setup
        • Windows Setup
        • Visual Studio Code IDE
        • Other/Generic Tools
      • Building the Code
      • Writing your First Application
      • Application/Module Template
    • Concepts
      • PX4 Architecture
      • PX4 Flight Stack Architecture
        • Controller Diagrams
      • Events Interface
      • Flight Modes
      • Flight Tasks
      • Control Allocation
      • PWM limit state machine
      • System Startup
      • SD Card Layout
    • Simulation
      • jMAVSim Simulation
        • Multi-Vehicle Sim with JMAVSim
      • Gazebo Simulation
        • Vehicles
        • Multi-Vehicle Sim
      • Gazebo Classic Simulation
        • Vehicles
        • Worlds
        • Multi-Vehicle Sim
      • FlightGear Simulation
        • FlightGear Vehicles
        • Multi-Vehicle Sim with FlightGear
      • JSBSim Simulation
      • AirSim Simulation
      • Multi-Vehicle Simulation
      • Simulate Failsafes
      • HITL Simulation
      • Simulation-In-Hardware
    • Hardware
      • Flight Controller Reference Design
      • Manufacturer’s Board Support Guide
      • Flight Controller Porting Guide
        • PX4 Board Configuration (kconfig)
        • NuttX Board Porting Guide
      • Serial Port Mapping
      • Airframes
        • Adding a New Airframe
      • Device Drivers
      • Telemetry Radio
        • SiK Radio
      • Sensor and Actuator I/O
        • DroneCAN
        • I2C Bus
        • UART/Serial Ports
          • Port-Configurable Serial Drivers
      • RTK GPS (Integration)
    • Middleware
      • uORB Messaging
      • uORB Graph
      • uORB Message Reference
        • ActionRequest
        • ActuatorArmed
        • ActuatorControlsStatus
        • ActuatorMotors
        • ActuatorOutputs
        • ActuatorServos
        • ActuatorServosTrim
        • ActuatorTest
        • AdcReport
        • Airspeed
        • AirspeedValidated
        • AirspeedWind
        • AutotuneAttitudeControlStatus
        • BatteryStatus
        • ButtonEvent
        • CameraCapture
        • CameraStatus
        • CameraTrigger
        • CellularStatus
        • CollisionConstraints
        • CollisionReport
        • ControlAllocatorStatus
        • Cpuload
        • DebugArray
        • DebugKeyValue
        • DebugValue
        • DebugVect
        • DifferentialPressure
        • DistanceSensor
        • Ekf2Timestamps
        • EscReport
        • EscStatus
        • EstimatorAidSource1d
        • EstimatorAidSource2d
        • EstimatorAidSource3d
        • EstimatorBias
        • EstimatorBias3d
        • EstimatorEventFlags
        • EstimatorGpsStatus
        • EstimatorInnovations
        • EstimatorSelectorStatus
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        • EstimatorStatus
        • EstimatorStatusFlags
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        • FollowTarget
        • FollowTargetEstimator
        • FollowTargetStatus
        • GeneratorStatus
        • GeofenceResult
        • GimbalControls
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        • GimbalManagerInformation
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        • GimbalManagerStatus
        • GpioConfig
        • GpioIn
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        • GpioRequest
        • GpsDump
        • GpsInjectData
        • Gripper
        • HealthReport
        • HeaterStatus
        • HomePosition
        • HoverThrustEstimate
        • InputRc
        • InternalCombustionEngineStatus
        • IridiumsbdStatus
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        • LandingGearWheel
        • LandingTargetInnovations
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        • LaunchDetectionStatus
        • LedControl
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On this page
  • Return Types (RTL_TYPE)
  • Home/Rally Point Return Type (RTL_TYPE=0)
  • Mission Landing/Rally Point Return Type (RTL_TYPE=1)
  • Mission Path Return Type (RTL_TYPE=2)
  • Closest Safe Destination Return Type (RTL_TYPE=3)
  • Return Altitude
  • Hover/Landing at Destination
  • Vehicle Default Behaviour
  • Multi-Copter (MC)
  • Fixed Wing (FW)
  • VTOL
  • Parameters
  1. Flying
  2. Flight Modes

Return Mode

PreviousLand ModeNextHold Mode

Last updated 1 year ago

The Return flight mode is used to fly a vehicle to safety on an unobstructed path to a safe destination, where it may either wait (hover or circle) or land.

PX4 provides several mechanisms for choosing a safe return path, destination and landing, including using home location, rally ("safe") points, mission paths, and mission landing sequences.

The following sections explain how to configure the , and . At the end there are sections explaining the default (preconfigured) behaviour for each .

:::note

  • This mode requires a global 3d position estimate (from GPS or inferred from a ).

  • This mode is automatic - no user intervention is required to control the vehicle.

  • RC control switches can be used to change flight modes on any vehicle.

  • RC stick movement in a multicopter (or VTOL in multicopter mode) will change the vehicle to unless handling a critical battery failsafe. :::

Return Types (RTL_TYPE)

PX4 provides four alternative approaches () for finding an unobstructed path to a safe destination and/or landing:

  • (RTL_TYPE=0): Ascend to safe altitude and return via a direct path to the closest rally point or home location.

  • (RTL_TYPE=1): Ascend to a safe altitude, fly direct to the closest destination other than home: rally point or start of mission landing. If no mission landing or rally points are defined, return home via direct path.

  • (RTL_TYPE=2): Use mission path and fast-continue to mission landing (if defined). If no mission landing defined, fast-reverse mission to home. If no mission defined, return direct to home (rally points are ignored).

  • (RTL_TYPE=3): Ascend to a safe altitude and return via direct path to closest destination: home, start of mission landing pattern, or rally point. If the destination is a mission landing pattern, follow the pattern to land.

More detailed explanations for each of the types are provided in the following sections.

Home/Rally Point Return Type (RTL_TYPE=0)

In this return type the vehicle:

  • Flies via direct path to the home position or a rally point (whichever is closest)

:::note If no rally points are defined, this is the same as a Return to Launch (RTL)/Return to Home (RTH). :::

Mission Landing/Rally Point Return Type (RTL_TYPE=1)

In this return type the vehicle:

  • If the destination is a mission landing pattern it will follow the pattern to land.

:::warning When this type is set PX4 will reject any mission without a valid landing pattern. :::

Mission Path Return Type (RTL_TYPE=2)

This return type uses the mission (if defined) to provide a safe return path, and the mission landing pattern (if defined) to provide landing behaviour. If there is a mission but no mission landing pattern, the mission is flown in reverse. Rally points, if any, are ignored.

:::note The behaviour is fairly complex because it depends on the flight mode, and whether a mission and mission landing are defined. :::

Mission with landing pattern:

  • Mission mode: Mission is continued in "fast-forward mode" (jumps, delay and any other non-position commands ignored, loiter and other position waypoints converted to simple waypoints) and then lands.

  • Auto mode other than mission mode:

    • Fly directly to closest waypoint (for FW not a landing WP) and descend to waypoint altitude.

    • Continue mission in fast forward mode from that waypoint.

  • Manual modes:

    • Fly directly to landing sequence position and descend to waypoint altitude

    • Land using mission landing pattern

Mission without landing pattern defined:

  • Mission mode:

    • Mission flown "fast-backward" (in reverse) starting from the previous waypoint

      • Jumps, delay and any other non-position commands ignored, loiter and other position waypoints converted to simple waypoints.

      • VTOL vehicles transition to FW mode (if needed) before flying the mission in reverse.

  • Auto mode other than mission mode:

    • Fly directly to closest waypoint (for FW not a landing WP) and descend to waypoint altitude.

    • Continue the mission in reverse, exactly as though Return mode was triggered in mission mode (above)

  • Manual modes: Fly directly to home location and land.

If no mission is defined PX4 will fly directly to home location and land (rally points are ignored).

If the mission changes during return mode, then the behaviour is re-evaluated based on the new mission following the same rules as above (e.g. if the new mission has no landing sequence and you're in a mission, the mission is reversed).

Closest Safe Destination Return Type (RTL_TYPE=3)

In this return type the vehicle:

  • Flies a direct path to the closest destination of: home location, mission landing pattern or rally point.

  • If the destination is a mission landing pattern the vehicle will follow the pattern to land

Return Altitude

A vehicle will usually first ascend to a safe altitude before returning, in order to avoid any obstacles between it and the destination.

If the vehicle is:

  • Inside the cone:

Note:

    • the vehicle returns at RTL_RETURN_ALT (or above).

Hover/Landing at Destination

Vehicle Default Behaviour

The mode is implemented in almost exactly the same way in all vehicle types (the exception being that fixed wing vehicles will circle rather than hover when waiting), and are hence tuned using the same parameters.

However the default configuration is tailored to suit the vehicle type, as described below.

Multi-Copter (MC)

  • Fly to the home position in a straight line and constant altitude (if already above the return altitude it will return at its current altitude).

Fixed Wing (FW)

  • If a mission landing is defined, fly direct to the mission landing start point and then land.

RC stick movement is ignored.

VTOL

  • If a mission landing is defined, fly direct to the mission landing start point and then land.

  • Otherwise fly directly to the home position, transition to multicopter mode, and land as a multicopter.

Parameters

Parameter
Description

Return mechanism (path and destination). 0: Return to a rally point or home (whichever is closest) via direct path. 1: Return to a rally point or the mission landing pattern start point (whichever is closest), via direct path. If neither mission landing or rally points are defined return home via a direct path. If the destination is a mission landing pattern, follow the pattern to land. 2: Use mission path fast-forward to landing if a landing pattern is defined, otherwise fast-reverse to home. Ignore rally points. Fly direct to home if no mission plan is defined. 3: Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.

Minimum return altitude and altitude at which the vehicle will slow or stop its initial descent from a higher return altitude (default: 30m)

Time to hover at RTL_DESCEND_ALT before landing (default: 0.5s) -by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at RTL_DESCEND_ALT rather than landing. The delay is provided to allow you to configure time for landing gear to be deployed (triggered automatically).

Minimum horizontal distance from home position to trigger ascent to the return altitude specified by the "cone". If the vehicle is horizontally closer than this distance to home, it will return at its current altitude or RTL_DESCEND_ALT (whichever is higher) instead of first ascending to RTL_RETURN_ALT).

Half-angle of the cone that defines the vehicle RTL return altitude. Values (in degrees): 0, 25, 45, 65, 80, 90. Note that 0 is "no cone" (always return at RTL_RETURN_ALT or higher), while 90 indicates that the vehicle must return at the current altitude or RTL_DESCEND_ALT (whichever is higher).

Ascends to a safe (above any expected obstacles).

at descent altitude (depending on landing parameters).

Ascends to a safe (above any expected obstacles).

Flies via direct path to a rally point or the start of a (whichever is closest). If no mission landing or rally points are defined the vehicle instead returns home via a direct path.

If the destination is a rally point or home it will at descent altitude (depending on landing parameters).

:::note A mission landing pattern consists of a , one or more position waypoints, and a . :::

Ascend to a safe above any expected obstacles.

Ascend to a safe above any expected obstacles.

On reaching waypoint 1, the vehicle ascends to the and flies to the home position (where it ).

Ascends to a safe (above any expected obstacles).

If the destination is a home location or rally point, the vehicle will descend to the descent altitude () and then .

:::note This is true for most . The exception is when executing a from within a mission, where the vehicle follows mission waypoints (we can assume these avoid any obstacles). :::

The return altitude for a fixed-wing vehicle is configured using the parameter . The return altitude for multicopter and VTOL vehicles is configured using the parameters and , which define a half cone centered around the destination (home location or safety point).

Above (1) it will return at its current altitude.

Below the cone it will return where it intersects the cone (2) or (whichever is higher).

Outside the cone (3) it will first climb until it reaches .

Above (4) it will return at its current altitude.

Below (5) it will first ascend to RTL_DESCEND_ALT.

If is 0 degrees there is no "cone":

If is 90 degrees the vehicle will return at the greater of RTL_DESCEND_ALT and the current altitude.

The vehicle will always ascend at least for the return.

Unless executing a mission landing (e.g. if executing a or ), the vehicle will arrive at its destination, and rapidly descend to the altitude.

The vehicle will the loiter for a specified time () and then land. If it will loiter indefinitely.

Multicopters use a by default (and the following configuration):

Ascend to ( - cone not used).

Rapidly descend to the altitude.

Land more or less immediately (small ).

Fixed-wing aircraft use a by default:

Otherwise fly directly to the home position and circle above it at radius .

If not following a mission landing, and is set to -1, the vehicle will land as described in the topic: .

The fixed wing depends only on (the cone defined by is not used)

VTOL aircraft use a by default:

:::note If not in a mission landing, a VTOL in FW mode will always transition back to MC just before landing (ignoring ). :::

The RTL parameters are listed in (and summarised below).

Return altitude in meters (default: 60m) when is 0. If already above this value the vehicle will return at its current altitude.

Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to (except when vehicle is handling a critical battery failsafe). This can be separately enabled for auto modes and for offboard mode, and is enabled in auto modes by default.

The amount of stick movement that causes a transition to (if is enabled).

[Fixed Wing Only] The radius of the loiter circle (at .

MAV_CMD_DO_LAND_START
MAV_CMD_NAV_LAND
return altitude
Land or waits
return altitude
mission landing pattern
land or wait
return altitude
return altitude
return altitude
lands or waits
return altitude
RTL_DESCEND_ALT
Land or waits
return types
mission path return
RTL_RETURN_ALT
RTL_RETURN_ALT
RTL_CONE_ANG
RTL_RETURN_ALT
RTL_DESCEND_ALT
RTL_RETURN_ALT
RTL_DESCEND_ALT
RTL_DESCEND_ALT
RTL_CONE_ANG
RTL_CONE_ANG
RTL_DESCEND_ALT
home location return
closest safe destination return
RTL_DESCEND_ALT
RTL_LAND_DELAY
RTL_LAND_DELAY=-1
home location return
RTL_RETURN_ALT
RTL_CONE_ANG=0
RTL_DESCEND_ALT
RTL_LAND_DELAY
mission landing return type
NAV_LOITER_RAD
safe return altitude
RTL_RETURN_ALT
RTL_CONE_ANG
mission landing return type
Position mode
Position mode
COM_RC_OVERRIDE
RTL_LAND_DELAY
Position mode
return type
return altitude
landing/arrival behaviour
vehicle type
by default
RTL_TYPE
Home/rally point return
Mission landing/rally point return
Mission path return
Closest safe destination return
RTL_LAND_DELAY
Land Mode > Fixed-wing landing
local position
Return mode cone
NAV_FORCE_VT
Parameter Reference > Return Mode
RTL_TYPE
RTL_RETURN_ALT
RTL_CONE_ANG
RTL_DESCEND_ALT
RTL_LAND_DELAY
RTL_MIN_DIST
RTL_CONE_ANG
COM_RC_OVERRIDE
COM_RC_STICK_OV
NAV_LOITER_RAD